\newcommand{\la}{CG}
\newcommand{\lb}{K2}
\newcommand{\lc}{K3}

\newcommand{\AT}{AT}
\newcommand{\TB}{TB}

\newcommand{\HRule}{\rule{\linewidth}{0.1mm}}

% symbol for hybrid control system
\newcommand{\HCS}{\ensuremath{\mathscr{HC}}}

% symbol for hybrid system.
\newcommand{\HS}{\ensuremath{\mathscr{H}}}

% partial derivative
\newcommand{\pd}[2]{\ensuremath{\frac{\partial{#1}}{\partial{#2}}}}

% tuple for hybrid system
\newcommand{\hsystem}{\ensuremath{(\Domain, \Guard, \ResetMap, \F)}}

% tuple for hybrid control system
\newcommand{\hcsystem}{\ensuremath{(\Domain, \ControlSet, \Guard, \ResetMap, \FG)}}

% labels for stance/nonstance toes/heels
\newcommand{\csh}{\ce_{\sh}}
\newcommand{\cst}{\ce_{\st}}
\newcommand{\cnsh}{\ce_{\nsh}}
\newcommand{\cnst}{\ce_{\nst}}

\newcommand{\ce}{c}
\newcommand{\sh}{\mathrm{sh}}
\newcommand{\st}{\mathrm{st}}
\newcommand{\nsh}{\mathrm{nsh}}
\newcommand{\nst}{\mathrm{nst}}

% domain labels
\newcommand{\DA}{\ts}
\newcommand{\DB}{\tl}
\newcommand{\DC}{\hl}
\newcommand{\DD}{\hs}
\newcommand{\ts}{\ensuremath{\mathit{ts}}}
\newcommand{\tl}{\ensuremath{\mathit{tl}}}
\newcommand{\hl}{\ensuremath{\mathit{hl}}}
\newcommand{\hs}{\ensuremath{\mathit{hs}}}
\newcommand{\Domain}{\ensuremath{\mathcal{D}}}
\newcommand{\ControlSet}{\ensuremath{\mathcal{U}}}
\newcommand{\Guard}{\ensuremath{\mathcal{S}}}
\newcommand{\DGraph}{\ensuremath{\Gamma}}
\newcommand{\ResetMap}{\ensuremath{\Delta}}
\newcommand{\F}{\ensuremath{\mathcal{F}}}
\newcommand{\FG}{\ensuremath{\mathcal{FG}}}
\newcommand{\ConfigurationSpace}{\ensuremath{\mathcal{Q}}}
\newcommand{\StateSpace}{\ensuremath{\mathcal{X}}}
\newcommand{\ContactSet}{\ensuremath{\mathcal{C}}}
% executions
\newcommand{\executionHS}{\ensuremath{\chi^{\HS}}}
\newcommand{\periodicHS}{\ensuremath{\rho^{\HS}}}
\newcommand{\Ical}{\ensuremath{\mathcal{I}}}
\newcommand{\Xcal}{\ensuremath{\mathcal{X}}}
\newcommand{\Ccal}{\ensuremath{\mathcal{C}}}

% real numbers
\newcommand{\R}{\ensuremath{\mathbb{R}}}

% natural numbers
\newcommand{\Nat}{\ensuremath{\mathbb{N}}}

% integers
\newcommand{\Z}{\ensuremath{\mathbb{Z}}}

% configurations
\newcommand{\q}{\ensuremath{q}}
\newcommand{\qe}{\ensuremath{\q_{e}}}

% velocities
\newcommand{\dq}{\ensuremath{\dot q}}
\newcommand{\dqe}{\ensuremath{\dq_{e}}}

% acceleration
\newcommand{\ddq}{\ensuremath{\ddot q}}
\newcommand{\ddqe}{\ensuremath{\ddq_{e}}}

% control input
\newcommand{\uu}{\ensuremath{u}}

% symbol used to represent Lagrangians
\newcommand{\Lagrangian}{\ensuremath{\mathcal{L}}}

% symbol used to represent Jacobian matrices
\newcommand{\Jacobian}{\ensuremath{J}}

% holonomic constraint tuple
\newcommand{\Thc}{\ensuremath{\boldsymbol \hc}}

% holonomic constraint implicit map, i.e., \eta(q, \dq) = 0.
\newcommand{\hc}{\ensuremath{\eta}}

% unilateral constraint map
\newcommand{\uc}{\ensuremath{h}}

% potential energy
\newcommand{\V}{\ensuremath{V}}

% manipulator inertia matrix for dynamic model
\newcommand{\D}{\ensuremath{D}}

% Coriolis Jacobian to find wrench for to dynamic model, i.e. C(q, qdot) * qdot
\newcommand{\C}{\ensuremath{C}}

% wrench resulting from gravity
\newcommand{\G}{\ensuremath{G}}

\newcommand{\xB}{\ensuremath{\mathcal{B}}}

\newcommand{\VertexSet}{\ensuremath{\mathcal{V}}}
\newcommand{\EdgeSet}{\ensuremath{\mathcal{E}}}


% symbol for wrenches
\newcommand{\wrench}{\ensuremath{F}}

% torque distribution matrix
\newcommand{\W}{\ensuremath{B}}

% dimension of configuration space
\newcommand{\ncfg}{\ensuremath{n}}

% dimension of control set/number of actuators
\newcommand{\nact}{\ensuremath{m}}

% number of holonomic constraints
\newcommand{\nhc}{\ensuremath{\ell}}

% domain breakdown map
\newcommand{\Br}{\ensuremath{\mathcal{B}}}

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%% DEPRECATED FUNCTIONS %%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% These may still appear but should be phased out. Generally
% these functions map to their replacements, but they may be
% removed in a future version entirely.

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% DEPRECATED - unilateral constraints
\newcommand{\ucvec}{\ensuremath{\uc}}

% DEPRECATED - holonomic constraints
\newcommand{\hcvec}{\hc}

% DEPRECATED - degree of actuation
\newcommand{\idxin}{\nact}

% DEPRECATED - Lagrangian
\newcommand{\lahc}{\Lagrangian}
